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#ifndef MAPVIZ_PLUGINS__POINTCLOUD2_PLUGIN_H_
#define MAPVIZ_PLUGINS__POINTCLOUD2_PLUGIN_H_

#include <mapviz/mapviz_plugin.h>

// QT libraries
#include <QGLWidget>
#include <QColor>
#include <QMutex>

// ROS libraries
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

// C++ standard libraries
#include <string>
#include <deque>
#include <vector>
#include <map>

// QT autogenerated files
#include "ui_pointcloud2_config.h"

namespace mapviz_plugins
{
class PointCloud2Plugin : public mapviz::MapvizPlugin
{
Q_OBJECT

public:
  struct FieldInfo
  {
    uint8_t datatype;
    uint32_t offset;
  };

  enum
  {
    COLOR_FLAT = 0,
    COLOR_Z = 3
  };

  PointCloud2Plugin();
  ~PointCloud2Plugin() override = default;

  bool Initialize(QGLWidget* canvas) override;
  void Shutdown() override {}

  void ClearHistory() override;

  void Draw(double x, double y, double scale) override;

  void Transform() override;

  void LoadConfig(const YAML::Node& node, const std::string& path) override;
  void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;

  QWidget* GetConfigWidget(QWidget* parent) override;

protected:
  void PrintError(const std::string& message) override;
  void PrintInfo(const std::string& message) override;
  void PrintWarning(const std::string& message) override;

protected Q_SLOTS:
  void SelectTopic();
  void TopicEdited();
  void AlphaEdited(double new_value);
  void ColorTransformerChanged(int index);
  void MinValueChanged(double value);
  void MaxValueChanged(double value);
  void PointSizeChanged(int value);
  void BufferSizeChanged(int value);
  void UseRainbowChanged(int check_state);
  void UseAutomaxminChanged(int check_state);
  void UpdateColors();
  void DrawIcon() override;
  void ResetTransformedPointClouds();
  void ClearPointClouds();
  void SetSubscription(bool subscribe);

private:
  struct StampedPoint
  {
    tf2::Vector3 point;
    std::vector<float> features;
  };

  struct Scan
  {
    rclcpp::Time stamp;
    QColor color;
    std::vector<StampedPoint> points;
    std::string source_frame;
    bool transformed;
    std::map<std::string, FieldInfo> new_features;

    std::vector<float> gl_point;
    std::vector<uint8_t> gl_color;
    GLuint point_vbo;
    GLuint color_vbo;
  };

  float PointFeature(const uint8_t*, const FieldInfo&);
  void connectCallback(const std::string& topic, const rmw_qos_profile_t& qos);
  void PointCloud2Callback(const sensor_msgs::msg::PointCloud2::SharedPtr scan);
  QColor CalculateColor(const StampedPoint& point);
  void UpdateMinMaxWidgets();

  Ui::PointCloud2_config ui_{};
  QWidget* config_widget_;

  std::string topic_;
  rmw_qos_profile_t qos_;
  double alpha_;
  double max_value_;
  double min_value_;
  size_t point_size_;
  size_t buffer_size_;
  bool new_topic_;
  bool has_message_;
  size_t num_of_feats_;
  bool need_new_list_;
  std::string saved_color_transformer_;
  bool need_minmax_;
  std::vector<double> max_;
  std::vector<double> min_;
  // Use a list instead of a deque for scans to facilitate removing
  // timed-out scans in the middle of the list in case I ever re-implement
  // decay time (evenator)
  std::deque<Scan> scans_;
  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr pc2_sub_;

  QMutex scan_mutex_;
};
}   // namespace mapviz_plugins

#endif  // MAPVIZ_PLUGINS__POINTCLOUD2_PLUGIN_H_
